Manned submersible vehicle

ABSTRACT

A submersible vehicle includes a hull having at least one main ballast buoyancy tank and an operator compartment. Further, the hull includes an air tank bay for receiving at least one tank of compressed air, and a battery box for holding the vehicle batteries. An opening is formed in the hull for ingress and egress of the operator compartment, and a canopy is mounted on the hull for covering the opening when the canopy is closed. Additionally, the vehicle includes a thruster unit for propelling the vehicle in a direction substantially perpendicular to the surface of the water. Further, a propeller assembly propels the vehicle in a direction substantially parallel to the surface of the water. A buoyancy control system works in concert with the thruster unit and a buoyancy tank to establish the position of the vehicle relative to the surface of the water, and to maintain neutral buoyancy for the vehicle.

FIELD OF THE INVENTION

The present invention pertains generally to submersible vehicles. More particularly, the present invention pertains to manned submersible vehicles for travel through a body of water at a predetermined distance from the surface of the body of water. The present invention is particularly, but not exclusively, useful as a submersible vehicle for travel through a body of water using combined vehicle thrust and buoyancy control to position the vehicle a predetermined distance from the surface, and to maintain neutral buoyancy for the vehicle.

BACKGROUND OF THE INVENTION

While floating in a body of water, a surface ship or a submersible vehicle (e.g. a submarine) displaces a volume of water, the weight of which is equal to the weight of the ship or submersible. This displacement of water generates a “buoyant” force which acts in an upward direction to oppose gravity and to cause the ship or submersible to float. Unlike most surface ships, submersible vehicles are designed to change the buoyancy of the vehicle, thereby allowing the vehicle to ascend, descend, or remain at a predetermined distance below the surface of the body of water. A condition of positive buoyancy exists when the vehicle is ascending or floating. Likewise, if the vehicle is descending in the water, this condition is termed negative buoyancy. Importantly, when the vehicle remains stationary at a predetermined distance below the surface, this condition is known as neutral buoyancy.

It is well known that submersible vehicles establish the desired buoyancy through the use of ballast control. In particular, if water contained in a ballast tank is driven from the tank by air that is forced into the tank, the vehicle will experience positive buoyancy and will ascend. Similarly, when air is vented from the tank, and the tank is allowed to once again take in water, the vehicle begins to descend in the water. Stated differently, the amount of ballast maintained by the vehicle dictates whether the vehicle ascends, descends, or remains at a specific distance below the surface.

Although submersible vehicles could perhaps descend and ascend through buoyancy control alone, most submersible vehicles are not designed to operate in this manner. On the contrary, the typical method for establishing a depth in the water requires a combination of buoyancy control (as discussed above), forward thrust, which is to say thrust generated in a direction parallel to the surface of the water, and control over the angle of descent or ascent. Forward thrust is most likely produced by a propulsion system which generates a thrust vector substantially parallel to the surface of the water. Further, the angle of ascent and descent is typically established by using rotatable hydroplanes, or other movable planar surfaces. As the vehicle is propelled forward, water flows over and under the hydroplane, thereby generating a force vector substantially normal to the surface of the water. As can be appreciated, the direction of the force vector, either toward or away from the surface, depends on the orientation of the hydroplane.

In light of the above, it is an object of the present invention to provide a submersible vehicle for travel through a body of water that operates at a predetermined distance from the surface of the water. Yet another object of the present invention is to provide a submersible vehicle which establishes a predetermined position below the surface of the water, and maintains neutral buoyancy, through the concerted control of both vehicle buoyancy and vehicle propulsion. Still another object of the present invention is to provide a submersible vehicle that is easy to use, relatively simple to manufacture, and comparatively cost effective.

SUMMARY OF THE INVENTION

A submersible vehicle for moving through a body of water includes a hull having a forward and an aft end, and defining a longitudinal axis. Structurally, the hull is formed with at least one main ballast. Also, the hull includes an air tank bay for receiving at least one tank of compressed air, a battery box containing a plurality of batteries for providing vehicle power and buoyancy tank.

In addition to the main ballast disclosed above, the vehicle includes an operator compartment positioned in the hull. As contemplated by the present invention, the operator compartment may also be used as part of the main ballast. Preferably, the hull is formed with an opening for ingress and egress of the operator compartment. Further, a movable canopy is mounted on the hull for selectively covering the opening. In a closed position, the canopy covers the opening in the hull. Trapping a fixed volume air pocket. The bottom of the canopy skirt is opened, and its circular edge provides a level of wake inside the passenger compartment. Excess of air is dumped over the edge, lack of air raises the level of water, but the buoancy system automatically overcomes and forces air inside the compartment to lower water level at the bottom edge of the passenger compartment Alternatively, in an open position, the canopy is rotated away from the opening to provide access to the operator compartment. Preferably, a portion of the canopy is transparent.

In addition to the structure disclosed above, the vehicle of the present invention includes at least one thruster unit for moving the vehicle in a direction substantially perpendicular to the surface of the body of water. Preferably, the system of the present invention includes two thruster units positioned on opposite sides of the vehicle. As contemplated by the present invention, the two thruster units have substantially the same structure and functionality. In particular, each thruster unit includes an electric motor that is positioned in a channel formed through the hull. Further, a propeller is connected to the electric motor for rotation of the propeller about an axis substantially perpendicular to the surface of the water.

In addition to the thruster units, the submersible vehicle includes a propulsion assembly mounted on the aft end of the hull. Importantly, the propulsion assembly is positioned to propel the vehicle in a direction substantially parallel to the surface of the water. Structurally, the propulsion assembly includes a rudder. In particular, one end of the rudder is mounted to the hull for rotation of the rudder about an axis substantially perpendicular to the surface of the water. Further, an electric motor is fixedly attached to the other end of the rudder. The electric motor, in turn, is connected to a propeller for rotation of the propeller about an axis substantially parallel to the longitudinal axis.

As contemplated by the present invention, the submersible vehicle includes a buoyancy control system. In particular, the buoyancy control system includes a regulator interconnecting the main ballast and the tank of compressed air. Additionally, the regulator interconnects the operator compartment with the tank of compressed air. An electronic sensing device is positioned in the operator compartment for sensing the volume of air inside the operator compartment. The electronic sensing device, in turn, is electrically connected to a controller for regulating the flow of air into the operator compartment. As contemplated by the present invention, the controller is also connected to the regulator for controlling the flow of air into the main ballast. Also positioned in the operator compartment are a thruster controller for controlling the thruster units, as well as a propulsion assembly controller for controlling the propulsion assembly.

Prior to operating the vehicle, the canopy is placed in an open position and the floatation chamber is substantially filled with a volume of air. Further, the operator compartment is partially filled with water. In this configuration, the vehicle is positioned substantially on the surface of the body of water, which is to say the vehicle is floating on the surface. After the operator enters the operator compartment, the canopy is closed and latched, and the main ballast is vented. It can be appreciated that venting the main ballast allows water to enter the main ballast from the bottom, thereby causing the vehicle to descend in a direction substantially perpendicular to the surface of the water. During descent, the longitudinal axis of the vehicle remains parallel to the surface. As envisioned by the present invention, the vehicle continues to descend until the desired distance below the surface of the water is reached. As this submersion process continues, the controller regulates the flow of air into the operator compartment, thereby maintaining a predetermined level. The water level at the bottom of the canopyl inside the compartment to keep constant the volume of the air pocket inside the canopy In this way, the water line in the operator compartment is maintained at a predetermined safe level for the operator.

After the main ballast is fully filled with water, the buoyancy control system, working in concert with the thruster units, establishes and maintains neutral buoyancy for the vehicle. By adding removing water inside with a pump More specifically, the buoyancy control system adjusts the water level in the buoyancy tank by as much as (+) or (−) ten inches, while the vehicle operator controls the operation of the two thruster units. In this way, the vehicle can achieve neutral buoyancy while maintaining the orientation of the vehicle substantially parallel to the surface of the water. Once neutral buoyancy is achieved, the thruster units can also be used to propel the vehicle either toward or away from the surface, in a direction of movement substantially perpendicular to the surface. Additionally, the propulsion assembly can be used to propel the vehicle in a direction substantially parallel to the surface. As envisioned by the present invention, the operator maneuvers the vehicle by concertedly manipulating the thruster controller and the propulsion assembly controller positioned in the operator compartment.

As the vehicle moves through the body of water, the electronic sensing device monitors the water level inside the operator compartment to determine if the water level is safe for the operator (essentially at the mid-to-upper chest region of the operator). The buoyancy control system functions to maintain the water level accordingly. Specifically, air is introduced into the compartment, through the regulator, to maintain the level of water in the operator compartment at a safe level. Importantly, the flow of air into the compartment can also be effected manually by the operator to override the automatic system. In this way the operator can maintain the water level manually or in emergency to maintain the required air pressure in the compartment in the event of an electrical system failure of the vehicle.

To return the vehicle to a floating position substantially on the surface of the water, the regulator directs air into the main ballast, thereby forcing water out of the chamber through the bottom openings. As the volume of water in the main ballast is replaced with a volume of air, the vehicle begins to ascend while still remaining oriented substantially parallel to the surface. Additionally, the thruster units can be operated to propel the vehicle in the direction of ascent. Further, air in the operator compartment is vented over the bottom edge of the compartment to maintain the water level in the cabin as the vehicle moves toward the surface.

BRIEF DESCRIPTION OF THE DRAWINGS

The novel features of this invention, as well as the invention itself, both as to its structure and its operation, will be best understood from the accompanying drawings, taken in conjunction with the accompanying description, in which similar reference characters refer to similar parts, and in which:

FIG. 1 is a top view of the submersible vehicle of the present invention;

FIG. 2 is a partially sectioned side view of the submersible vehicle;

FIG. 3 is a schematic view of the buoyancy control system of the present invention; and

FIG. 4 is a schematic view of the thruster controller and the propulsion assembly controller of the present invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

A submersible vehicle for travel through a body of water, in accordance with the present invention, is shown in FIG. 1 and is generally designated 10. As contemplated by the present invention, the vehicle 10 includes a hull 12 having an opening 14 and defining a longitudinal axis 16 which lies in a plane of symmetry. Further, the hull 12 defines a transverse axis 18 which is perpendicular to the longitudinal axis 16 and to the plane of symmetry. Importantly, the hull 12 is formed with at least one main ballast 20. As shown in FIG. 1, the main ballast 20 includes a valve in the controller 106 for releasing air from the chamber 20 into the surrounding environment.

Cross-referencing FIG. 1 with FIG. 2, it can be seen that the vehicle 10 includes an air tank bay 24 positioned in the hull 12 for accepting at least one tank 26 of compressed air. Further, a battery box 28 having a lid 30 is also positioned in the hull 12. A plurality of batteries for providing the vehicle electrical current, of which batteries 32 a and 32 b are exemplary, are contained in the battery box 28.

Still cross-referencing FIG. 1 and FIG. 2, it can be seen that the vehicle 10 includes an operator compartment 34 positioned in the hull 12. More specifically, the operator compartment 34 is positioned forward of the battery box 28 and the air tank bay 24. As can be appreciated by referring to FIG. 2, ingress and egress of the operator compartment 34 is through the opening 14 in the hull. Preferably, the operator compartment accommodates a single operator 36. In particular, the operator 36 is seated in the operator compartment 34 for controlling the functioning of the vehicle 10.

As envisioned by the present invention, the vehicle 10 includes a movable canopy 38, a portion 40 of which is transparent, and a fiberglass skirt 34 hinges mounted on the hull 12. As can be appreciated by cross-referencing FIGS. 1 and 2, the canopy 38 is positioned to rotate about an axis of rotation 42 substantially parallel to the transverse axis 16.

In particular, the canopy 38 is mounted for covering the opening 14 when the canopy 38 is in a closed position. When closed, the base 44 of the canopy 38 interfaces with the top surface 46 of the hull 12, creating an air pocket therebetween. A latch 48 secures the canopy 38 in position when the canopy 38 is closed.

Still cross-referencing FIG. 1 and FIG. 2, the vehicle 10 includes a pair of thruster units 50 a and 50 b for moving the vehicle 10 along an axis 52 substantially perpendicular to the surface of the body of water. As shown in FIG. 1, the two thruster units 50 a and 50 b are positioned axially along the transverse axis 18. Further, the two thrusters 50 a and 50 b are equidistant from, and on opposite sides of, the point 54 at which the longitudinal axis 16 and the transverse axis 18 intersect. As can be seen in FIG. 1, the thruster unit 50 a includes a housing 56 positioned to surround a channel 58 formed through the hull 12. An electric motor 60 is positioned in the channel 58 and attached to the housing 56. More specifically, a bracket 62 is attached to the electric motor 60. The bracket 62, in turn, is attached to the housing 56. As shown in FIG. 2, the electric motor 60 includes a propeller shaft 64. As shown, the propeller shaft 64 is connected to a propeller 66 for rotating the propeller 66 about an axis 68 substantially parallel to the axis of movement 52. It should be appreciated that thruster unit 50 b is structurally and functionally the same as thruster unit 50 a.

In addition to the thruster units 50 a and 50 b disclosed above, the vehicle 10 includes a propulsion assembly 70 for moving the vehicle 10 along an axis 72 substantially parallel to the surface of the water. As shown in FIG. 2, the propulsion assembly 70 includes a rudder 74. As shown, one end 76 of the rudder 74 is mounted to the hull 12 for rotation of the rudder 74 about an axis 78 substantially parallel to the axis of movement 52. Further, an electric motor 80 of a type well known in the pertinent art is mounted to the other end 82 of the rudder 74. As further shown in FIG. 2, the electric motor 80 is includes a propeller shaft 83, which is connected in turn to a propeller 84, for rotation of the propeller 84 about an axis 86 substantially parallel to the axis of movement 72.

As further shown in FIG. 2, the vehicle 10 includes a guard rail 88. As shown, one end 90 of the guard rail 88 is fixedly attached to the hull 12 of the vehicle 10. Further, a second end 92 of the guard rail 88 is attached to the electric motor 80. More specifically, the second end 92 of the guard rail 88 is attached to electric motor 80 in a manner well known in the pertinent art for allowing movement of the rudder 74 relative to the guard rail 88, while the guard rail 88 remains substantially in fixed position.

An important aspect of the present invention is a buoyancy control system 94 schematically depicted in FIG. 3. The buoyancy tank system 94 includes a regulator 96 in fluid communication with the tank of compressed air 26 via a supply line 98. Further, the regulator 96 is connected to the operator compartment 34 via a supply line 100. As also shown in FIG. 3, the regulator 96 is in fluid communication with the floatation chamber 20 via a supply line 102, for selectively introducing a volume of air into the main ballast 20. Further, the buoyancy control system 94 includes an electronic sensing device 104 positioned in the operator compartment 34 for sensing the water level in the compartment 34. A controller 106 is in electronic communication with the regulator 96, the tank of compressed air 26, and the sensing device 104 via electrical cables 108, 110 and 112 respectively.

Referring now to FIG. 4, the vehicle 10 includes a propulsion assembly controller 114 for controlling the rotation of the rudder 74, and the speed and rotation of the propeller 84. In one embodiment of the present invention, a hydraulic line 116 interconnects the propulsion assembly controller 114 and the rudder 74, for passing the hydraulic fluid needed to induce rotation of the rudder 74. Further, an electrical cable 118 interconnects the propulsion assembly controller 114 and the electric motor 80.

Still referring to FIG. 4, a thruster controller 120 for controlling thrusters 50 a and 50 b is shown. As shown, the controller 120 is connected to the thruster unit 50 a via electrical cable 122. Also, the thruster controller 120 is similarly connected to the thruster unit 50 b via an electrical cable 124.

In the operation of the present invention, the operator compartment 34 is partially filled with water. Also, the main ballast 20 is substantially filled with a volume of air, thereby causing the vehicle 10 to float substantially on the surface of the body of water. In this configuration, the canopy 38 may be in an open position. While the vehicle 10 is floating, the operator 36 enters the operator compartment 34 through the opening 14 in the hull 12. Once the operator 36 is properly seated in the operator compartment 34, the canopy 38 is rotated closed and the latch 48 is secured, thereby trapping an air-pocket between the base 44 of the canopy 38 and the top surface 46 of the hull 12. After the canopy 38 is closed, the main ballast 20 is vented, through valve 22 which is to say water is allowed to flow into the chamber 20 through openning in the bottom of the hull as air is forced out of the chamber 20. It can be appreciated that venting the main ballast 20 until the mbt 20 is substantially filled with water causes the vehicle 10 to descend along an axis 52 substantially perpendicular to the surface of the water. It should be noted that at all times, and during all vehicle movements, the longitudinal axis 16 of the vehicle 10 remains substantially parallel to the surface. As this submersion process continues, the controller 106 regulates the flow of air into the operator compartment 34. In this way, the operator compartment 34 is pressurized to maintain the level of water in the operator compartment 34 at a predetermined safe level for the operator 36 (mid-to-upper chest level of the operator 36). More specifically, the controller 106 receives data regarding the water level in the operator compartment 34 from the electronic sensing device 104. As the vehicle 10 continues to descend, the water level inside the compartment 34 will tend to rise with the changes in pressure outside the vehicle 10. The electronic sensing device 104 senses the change in the water level inside the operator compartment 34, and the controller 106 commands the regulator 96 to flow additional air into the compartment 34. As envisioned by the present invention, the regulator 96 directs a predetermined volume of air from the air tank 24 into the compartment 34. As the volume of air in the operator compartment 34 increases, the water level is maintained at the desired level. And extra air is dumped over the bottom edge Of note, the initial water level in the operator compartment 34 can be manually set by the operator 36. Further, the operator 36 can adjust the level of water in the operator compartment 34, as well as in the floatation chamber 20, by manually operating the regulator 96. The operator adjusts the bouyancy of the submersibles according to his weight by introducing or removing water in the buoyancy tank 94 and to achieve neutral bouyancy.

As contemplated by the present invention, the buoyancy tank system 94 establishes and maintains neutral buoyancy for the vehicle 10, in concert with the thruster units 50 a and 50 b, once the vehicle 10 reaches a desired distance from the surface. In particular, the tank buoyancy system 94 can adjust the water level in the buoyancy tank by as much as (+) or (−) 10 inches by pumping water into, or pumping water out of, the buoyancy tank 94. This adjustment of the water level in the buoyancy tank 94, and the concerted control of the thruster units 50 a and 50 b by the operator 36, act to maintain neutral buoyancy for the vehicle. Once neutral buoyancy is achieved, the thruster units 50 a and 50 b can subsequently be used to cause the vehicle 10 to either ascend or descend along the axis of movement 52, which is to say substantially perpendicular to the surface. More specifically, the thruster controller 120 in the operator compartment 34 can be used to electronically control the speed and direction of rotation of the propeller 66 of the thruster unit 50 a. Similar control is simultaneously available for thruster unit 50 b.

For movement of the vehicle 10 along the axis of movement 72, the propulsion assembly 70 propels the vehicle 10 according to commands received from the propulsion assembly controller 114. Further, the propulsion assembly controller 114 is used to hydraulically rotate the rudder 74, to turn the vehicle 10 as the vehicle is being propelled by the propulsion assembly 70.

As the vehicle 10 moves through the body of water, the electronic sensing device 104 continues to monitor the water level inside the operator compartment 34 as discussed above. If the water level exceeds a level determined to be safe for the operator 36, the water level in the compartment 34 is adjusted. Importantly, as discussed above, the flow of air into the operator compartment 34 can also be effected manually by the operator 36. In this way the operator 36 can adjust the water level, as well as maintain the air pressure in the compartment 34 in the event of an electrical system failure on the vehicle 10.

When the operator 36 is ready for the vehicle 10 to ascend and return to a floating position substantially on the surface, the controller 106 directs the regulator 96 to flow air into the main ballast 20, thereby forcing water out of the chamber 20 through the opening of the bottom of the hull. As the chamber 20 is substantially filled with a volume of air, the vehicle 10 ascends, aided by the operation of the thruster units 50 a and 50 b. Additionally, air in the operator compartment 34 is vented through the bottom edge of the compartment 34 to maintain a constant air volume in the compartment 34 as the vehicle moves 10 toward the surface. Alternatively, the operator 36 can manually operate the regulator 96 to force air into the floatation chamber 20, while still controlling the operation of the thruster units 50 a and 50 b.

While the particular Manned Submersible Vehicle as herein shown and disclosed in detail is fully capable of obtaining the objects and providing the advantages herein before stated, it is to be understood that it is merely illustrative of the presently preferred embodiments of the invention and that no limitations are intended to the details of construction or design herein shown other than as described in the appended claims. 

1. A submersible vehicle for travel beneath a surface of a body of water, said vehicle comprising: a hull; at least one thruster unit mounted on said hull for selectively moving said vehicle in a first direction; a propulsion assembly mounted on said hull for selectively moving said vehicle in a second direction, wherein the second direction is perpendicular to the first direction; a means for concertedly controlling said thruster unit and said propulsion assembly; and a buoyancy control system for concerted operation with said thruster unit to maintain said vehicle at a predetermined distance below the surface of the body of water, and to establish and maintain neutral buoyancy for the vehicle.
 2. A vehicle as recited in claim 1 wherein said hull defines a longitudinal axis and a plane of symmetry including said longitudinal axis, said vehicle comprising: a first thruster unit positioned at a distance from said plane of symmetry; and a second thruster unit positioned at a same distance from said plane of symmetry, wherein said first thruster unit and said second thruster unit are equidistant from and on either side of said plane of symmetry.
 3. A vehicle as recited in claim 1 wherein said propulsion assembly comprises: a rudder having a first end attached to said hull, for rotation of said rudder about an axis of rotation substantially parallel to the first direction of movement; a propeller motor fixedly attached to a second end of said rudder; and a propeller connected to said propeller motor for rotation of said propeller about an axis substantially parallel to the second direction.
 4. A vehicle as recited in claim 1 further comprising: an operator compartment positioned in said hull, wherein said hull is formed having an opening for ingress and egress of said compartment; and a canopy for selectively covering the opening in said hull. and buoyancy tank.
 5. A vehicle as recited in claim 4 further comprising an air tank bay positioned in said hull for receiving at least one tank of compressed air therein.
 6. A vehicle as recited in claim 5 wherein said hull includes at least one main ballast, and wherein said buoyancy tank system comprises: a regulator assembly interconnecting said tank of compressed air with said buoyancy, tank said main ballast and with said operator compartment, for selectively introducing a volume of air into said main ballast and into said operator compartment respectively; a sensor positioned in said operator compartment for sensing a level of water in said operator compartment; and a controller for receiving data from said sensor, and for concertedly regulating the volume of air in said main ballast the volume of air in said operator compartment and the volume of said buoyancy tank respectively to maintain neutral buoyancy for said vehicle relative.
 7. A vehicle as recited in claim 1 further comprising a battery box having a plurality of batteries for supplying electric current to said vehicle.
 8. A vehicle as recited in claim 1 wherein said hull is a fiber reinforced plastic.
 9. A submersible vehicle for travel beneath a surface of a body of water, said vehicle comprising: a hull; a means mounted on said hull for propelling said vehicle in a first direction; a means mounted on said hull for propelling said vehicle in a second direction, wherein the second direction is substantially perpendicular to the first direction; a means for concertedly controlling said first propelling means and said second propelling means; and a means, operating in concert with said means for propelling said vehicle in a first direction, for establishing a distance of said vehicle below the surface of the body of water, and for maintaining neutral buoyancy for the vehicle.
 10. A vehicle as recited in claim 9 wherein said means for propelling said vehicle in a first direction comprises at least one thruster unit mounted on said hull.
 11. A vehicle as recited in claim 10 wherein said thruster unit comprises: a cylindrical housing positioned in a channel formed through said hull; at least one propeller; and a thruster motor attached to said housing and connected to said propeller for rotation of said propeller about an axis substantially parallel to the first direction.
 12. A vehicle as recited in claim 9 wherein said means for propelling said vehicle in a second direction comprises: a rudder having a first end attached to said hull, for rotation of said rudder about an axis or rotation substantially parallel to the first direction of movement; a propeller motor fixedly attached to a second end of said rudder; and a propeller connected to said propeller motor for rotation of said propeller about an axis substantially parallel to the second direction.
 13. A vehicle as recited in claim 9 wherein said hull comprises: at least one main ballast; at least one buoyancy tank: an operator compartment; and an air tank bay for receiving at least one tank of compressed air.
 14. A vehicle as recited in claim 13 wherein said maintaining means comprises: a regulator assembly interconnecting said tank of compressed air with said main ballast, said buoyancy tank and with said operator compartment, for selectively introducing a volume of air into said main ballast, into said operator compartment respectively; and add remove water from buoancy tank. a sensor positioned in said operator compartment for sensing a level of water in said operator compartment; and a controller for receiving data from said sensor, and for concertedly regulating the volume of air in said main ballast, the volume of air in said operator compartment and the volume of water in the buoyancy tank respectively to maintain neutral buoyancy for said vehicle.
 15. A vehicle as recited in claim 13 wherein said hull is formed having an opening for ingress and egress of said operator compartment, said vehicle further comprising a canopy mounted on said hull for selectively covering the opening.
 16. A method for operating a submersible vehicle for travel beneath a surface of a body of water, said method comprising the steps of: operating at least one thruster unit mounted on a hull of said vehicle, for moving said vehicle in a first direction; operating a propulsion assembly mounted on said hull for moving said vehicle in a second direction, wherein the second direction is perpendicular to the first direction; concertedly controlling said thruster unit and said propulsion assembly; and activating a buoyancy tank system to operate in concert with said thruster unit for establishing a distance of said vehicle below the surface of the body of water, and for maintaining neutral buoyancy for the vehicle.
 17. A method as recited in claim 16 wherein said hull includes: at least one main ballast. at least one buoyancy tank. an operator compartment positioned in main ballast and an air tank bay formed in said hull for receiving at least one tank of compressed air.
 18. A method as recited in claim 17 wherein said activating a buoyancy control system further comprises the steps of: sensing a water level in said operator compartment; activating a regulator assembly interconnecting said tank of compressed air with said main ballast, with said buoyancy tank and with said operator compartment, for selectively introducing a volume of air into said main ballast, said buoyancy tank and into said operator compartment respectively; and concertedly regulating the volume of air in said buoyancy tank, said main Ballast and the volume of air in said operator compartment respectively to establish a distance of said vehicle below the surface of the body of water, and to maintain neutral buoyancy for the vehicle.
 19. A method as recited in claim 16 wherein said propulsion assembly comprises: a rudder having a first end attached to said hull, for rotation of said rudder about an axis of rotation substantially parallel to the first direction of movement; a propeller motor fixedly attached to a second end of said rudder; and a propeller connected to said propeller motor for rotation of said propeller about an axis substantially parallel to the second direction.
 20. A method as recited in claim 16 wherein said thruster unit comprises: a cylindrical housing positioned in a channel formed through said hull; at least one propeller; and a thruster motor attached to said housing and connected to said propeller for rotation of said propeller about an axis substantially parallel to the first direction. 